Last week Tesla began collecting short sections of video data from those with their new in-house Autopilot hardware. So really, Tesla's just getting started, and they're doing it with underpowered sensors and compute.
https://www.theverge.com/2017/5/8/15581094/tesla-autopilot-u...
Waymo was ahead of where Tesla is now back in 2012. In a demonstration capacity, Waymo's cars were working 5 years ago, but in the intermittent time Waymo has been validating their software against every possible edge case they might encounter on a real world situation, and Tesla will have to do the same one way or another before their autonomous OS can operate safely without a babysitter.